Application Profile for Lift Control Systems

Jul 15, 2003 - The definitions, acronyms and abbreviations given in part 1 shall also apply for part 2. 4 Virtual device definitions. 4.1 Introduction. A physical ...
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CiA Draft Standard Proposal 417-2

CANopen Application Profile for Lift Control Systems Part 2: Virtual device definitions

This is a draft standard proposal and may be changed without notification.

Version 1.0.1 July 15, 2003

© CAN in Automation (CiA) e. V.

DSP 417-2 V1.0.1

CANopen Application Profile for Lift Control Systems

HISTORY Date

Changes

2003-02-26

added objects with their appropriate input and output description

2003-04-10

added objects with their appropriate input and output description

2003-04-14

wording corrected

2003-04-19

final preperation

2003-05-15

change version numbering

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DSP 417-2 V1.0.1

CANopen Application Profile for Lift Control Systems

CONTENTS 1

SCOPE .................................................................................................. 4

2

NORMATIVE REFERENCES ................................................................ 4

3

DEFINITIONS, ACRONYMS AND ABBREVIATIONS .......................... 4

4

VIRTUAL DEVICE DEFINITIONS.......................................................... 4 4.1

Introduction................................................................................................................. 4

4.2

Call controller ............................................................................................................. 4

4.3

Input panel unit........................................................................................................... 5

4.4

Output panel unit........................................................................................................ 5

4.5

Car door controller ..................................................................................................... 6

4.6

Car door unit .............................................................................................................. 6

4.7

Light barrier unit ......................................................................................................... 6

4.8

Car position unit ......................................................................................................... 7

4.9

Car drive controller..................................................................................................... 7

4.10

Car drive unit.............................................................................................................. 8

4.11

Load measuring unit .................................................................................................. 9

4.12

Sensor unit ............................................................................................................... 10

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DSP 417-2 V1.0.1

CANopen Application Profile for Lift Control Systems

CiA

1 Scope This part of the application profile defines the virtual devices and the assignment of application objects that are supported by a particular virtual device.

2 Normative references The normative references given in part 1 one shall apply also for part 2.

3 Definitions, acronyms and abbreviations The definitions, acronyms and abbreviations given in part 1 shall also apply for part 2.

4 Virtual device definitions 4.1

Introduction

A physical CANopen device compliant to this application profile consists of one or more virtual devices. A virtual device shall not be distributed to several physical devices. Each virtual device supports a set of mandatory application objects and may implement additionally a variable set of optional application objects. Physical devices will not be defined, because they may implement multiple functions. The virtual device implements different application objects, some shall be supported (Mandatory) and some may be supported (Optional). In the virtual device description, there is defined the access attribute indicating if an application object is read only (ro), read/write (rw) or write only (wo). Read only indicates that this shall not be written via the bus; read/write allows to read and to write this object; and write only means that this application object shall be not read via the bus.

4.2

Call controller

The call controller virtual device receives all call requests from the panel virtual devices, and transmits the corresponding acknowledgements to the panel virtual devices. In addition, the call controller sends commands to the car drive controller to move the car and the car door controller to control the doors. When the call controller, the car drive controller, and the car door controller are implemented on the very same physical device, the communication between these virtual devices may be handled locally. All objects used by this virtual device are listed as follows: Index

Name

M/O

Access

6001h

Lift number

M

rw

6010h

Virtual input mapping

M

rw

6011h

Virtual output mapping

M

ro

6012h

Virtual sensor mapping

O

rw

6302h

Door position

O

rw

6383h

Position value

M

rw

6390h

Speed value car

O

rw

6391h

Acceleration value car

O

rw

4

DSP 417-2 V1.0.1

4.3

CANopen Application Profile for Lift Control Systems

CiA

Input panel unit

The input panel unit virtual device may be installed as in-car call panel or as floor call panel. The panel virtual device transmits user requests. All objects used by this virtual device are listed as follows: Index

Name

6100h 6101h :::::

Access

Input group 1

M

ro

Input group 2

O

ro

:::::

:::::

::::::

611Fh

Input group 32

O

ro

6120h

Parameter 1 group 1

M

rw

6121h

Parameter 1 group 2

O

rw

:::::

:::::

:::::

:::::

613Fh

Parameter 1 group 32

O

rw

6140h

Parameter 2 group 1

M

rw

6141h

Parameter 2 group 2

O

rw

:::::

:::::

:::::

:::::

615Fh

Parameter 2 group 32

O

rw

6160h

Parameter 3 group 1

M

rw

6161h

Parameter 3 group 2

O

rw

:::::

:::::

:::::

:::::

617Fh

Parameter 3 group 32

O

rw

6180h

Parameter 4 group 32

O

rw

:::::

:::::

O

rw

::::: 619Fh

4.4

M/O

::::: Parameter 4 group 32

Output panel unit

The output display unit virtual device may be installed as in-car panel or as floor panel. The output panel unit can be a display device that shows car position as well as direction and may announce acoustically the incoming car as well as the input panel that receives the acknowledgements for its call requests. All objects used by this virtual device are listed as follows: Index

Name

6200h 6201h :::::

M/O

Access

Output group 1

M

rw

Output group 2

O

rw

:::::

:::::

:::::

621Fh

Output group 32

O

rw

6220h

Parameter 1 group 1

M

rw

6221h

Parameter 1 group 2

O

rw

:::::

:::::

:::::

:::::

623Fh

Parameter 1 group 32

O

rw

6240h

Parameter 2 group 1

M

rw

6241h

Parameter 2 group 2

O

rw

5

DSP 417-2 V1.0.1 Index :::::

CiA

Name

M/O

Access

:::::

:::::

:::::

625Fh

Parameter 2 group 32

O

rw

6260h

Parameter 3 group 1

M

rw

6261h

Parameter 3 group 2

O

rw

:::::

:::::

:::::

:::::

627Fh

Parameter 3 group 32

O

rw

6280h

Parameter 4 group 1

M

rw

6281h

Parameter 4 group 2

O

rw

:::::

:::::

O

rw

::::: 629Fh

4.5

CANopen Application Profile for Lift Control Systems

::::: Parameter 4 group 32

Car door controller

The car door controller virtual device transmits commands to the car door unit virtual device and receives status information from the car door unit virtual device and light barrier unit. All objects used by this virtual device are listed as follows:

4.6

Index

Name

M/O

Access

6001h

Lift number

M

rw

6300h

Door controlword

M

ro

6301h

Door statusword

M

rw

6302h

Door position

O

rw

6310h

Light barrier status

O

rw

M/O

Access

Car door unit

The car door unit virtual device opens and closes the car door. All objects used by this virtual device are listed as follows:

4.7

Index

Name

6001h

Lift number

M

rw

6300h

Door controlword

M

rw

6301h

Door statusword

M

ro

6302h

Door position

O

ro

6303h

Door configuration

M

rw

6310h

Ligth barrier status

O

rw

Light barrier unit

The light barrier unit virtual device detects subjects and objects entering the protected area of the car door unit. All objects used by this virtual device are listed as follows: Index

Name

M/O

Access

6001h

Lift number

M

rw

6310h

Ligth barrier status

M

ro

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CANopen Application Profile for Lift Control Systems

CiA

Car position unit

The car position unit virtual device measures the actual position of the car and may additional values like speed and acceleration mainly required by the car drive controller. All objects used by this virtual device are listed as follows:

4.9

Index

Name

M/O

Access

6001h

Lift number

M

rw

6380h

Operating parameter

M

rw

6381h

Measuring units per revolution

O

rw

6382h

Preset value

O

rw

6383h

Position value

M

ro

6384h

Encoder measuring step settings

O

rw

6390h

Speed value car

O

ro

6391h

Acceleration value car

O

ro

63A0h

CAM state register

O

ro

63A1h

CAM enable register

O

rw

63A2h

CAM polarity register

O

rw

63B0h

Area state register

O

ro

63B1h

Work area lowlimit

O

rw

63B2h

Work area highlimit

O

rw

63C0h

Operating status

M

ro

63C1h

Single turn resolution

M

ro

63C2h

Number of distinguishable revolutions

M

ro

63C3h

Alarms and warnings

O

ro

63C4h

Supported alarms and warnings

O

ro

63C8h

Operating time

O

ro

63C9h

Offset value

O

ro

63CFh

Module identification

O

ro

Car drive controller

The car drive controller virtual device transmits commands to the car drive unit virtual device and receives status information from the car drive unit virtual device, car position unit, and load measuring unit. All objects used by this virtual device are listed as follows: Index

Name

M/O

Access

6001h

Lift number

M

rw

6302h

Door position

O

rw

6383h

Position value

M

rw

6390h

Speed value car

O

rw

6391h

Acceleration value car

O

rw

6400h

Controlword

M

ro

6401h

Statusword

M

rw

7

DSP 417-2 V1.0.1 Index

Name

6406h

CANopen Application Profile for Lift Control Systems

CiA

M/O

Access

Control effort

O

rw

6420h

Target position

O

ro

6430h

Target velocity

O

ro

6433h

Velocity actual value

O

rw

6480h

Load value

O

rw

6482h

Load signaling

O

rw

M/O

Access

4.10 Car drive unit The car drive unit virtual device moves the car. All objects used by this virtual device are listed as follows: Index

Name

6001h

Lift number

M

rw

6383h

Position value

M

rw

6400h

Controlword

M

rw

6401h

Statusword

M

ro

6402h

Control option codes

O

rw

6403h

Modes of operation

M

rw

6404h

Modes of operation display

M

ro

6405h

Motion profile type

M

rw

6406h

Control effort

O

ro

6408h

Max velocity and speed

O

-

6409h

Max acceleration and deceleration

M

rw

640Ch

Quick stop deceleration

M

rw

640Bh

Profile acceleration and deceleration

O

rw

640Ch

Profile jerk use

O

rw

640Dh

Profile jerk

O

rw

640Fh

Motor data

O

ro

6410h

Position dimension

O

rw

6411h

Velocity dimension

O

rw

6412h

Acceleration dimension

O

rw

6413h

Jerk dimension

O

rw

6414h

Position encoder resolution

O

rw

6415h

Velocity encoder resolution

O

rw

6416h

Gear ratio

O

rw

6417h

Feed constant

O

rw

6418h

Position factor

O

rw

6419h

Velocity encoder factor

O

rw

641Ah

Velocity factor 1

O

rw

641Bh

Velocity factor 2

O

rw

8

DSP 417-2 V1.0.1 Index

Name

641Ch

CANopen Application Profile for Lift Control Systems

CiA

M/O

Access

Acceleration factor

O

rw

641Dh

Jerk factor

O

rw

641Eh

Polarity

O

rw

6420h

Target position

O

rw

6421h

Position range limit

O

rw

6422h

Software position limit

O

rw

6423h

Profile velocity

O

rw

6424h

End velocity

O

rw

6428h

Home offset

O

rw

6429h

Home method

O

rw

642Ah

Homing speed

O

rw

642Bh

Homing acceleration

O

rw

6430h

Target velocity

O

rw

6431h

Velocity sensor actual value

O

ro

6432h

Velocity demand value

O

ro

6433h

Velocity actual value

O

ro

6434h

Sensor selection code

O

rw

6435h

Velocity window

O

rw

6436h

Velocity threshold

O

rw

6437h

Max slippage

O

rw

6438h

Velocity control parameter set

O

rw

6480h

Load value

O

rw

6482h

Load signaling

O

rw

4.11 Load measuring unit The load measuring unit virtual device detects the load of the car and signals certain situations like normal load, full load, and overload. All objects used by this virtual device are listed as follows: Index

Name

M/O

Access

6001h

Lift number

M

rw

6480h

Load value

M

-

6481h

Load limits

M

rw

6482h

Load signaling

M

-

6483h

Load signaling limits

M

rw

6484h

Rope load

O

ro

6485h

Load measuring system configuration

M

rw

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4.12 Sensor unit The sensor unit virtual device detects certain sensor values and signals that like smoke detectors or glas detectes. All objects used by this virtual device are listed as follows: Index

Name

6500h 6501h :::::

M/O

Access

Sensor group 1

M

ro

Sensor group 2

O

ro

:::::

:::::

::::::

651Fh

Sensor group 32

O

ro

6520h

Sensor parameter 1 group 1

M

rw

6521h

Sensor parameter 1 group 2

O

rw

:::::

:::::

:::::

:::::

653Fh

Sensor parameter 1 group 32

O

rw

6540h

Sensor parameter 2 group 1

M

rw

6541h

Sensor parameter 2 group 2

O

rw

:::::

:::::

:::::

:::::

655Fh

Sensor parameter 2 group 32

O

rw

6560h

Sensor parameter 3 group 1

M

rw

6561h

Sensor parameter 3 group 2

O

rw

:::::

:::::

O

rw

::::: 657Fh

::::: Sensor parameter 3 group 32

10